\section{Introduction}
For the Embedded Systems Laboratory course, a design project has to be conducted in which the acquired knowledge on the Embedded Systems field is put to the test. The Embedded System design problem central in this project is the incorporation of vision into a real-time control loop.
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In this report, the design of a vision in the loop system for the (original) JIWY setup is described. It will become clear that using vision in a control system introduces different challenging design problems.

\subsection{Design Flow}
In this project, the V-model software development methodology is used, see figure~\ref{fig:vmodel} for an overview. The V-model provides a top-down approach for designing complex systems, and a down-top approach for testing. First the smallest parts are tested, then the larger parts up to the complete system. During these test phases (the right wing in the diagram) iterations are allowed to the corresponding design stage on the left wing, thereby providing in a powerful design flow as detailed systems can be build using step-wise refinement.

In this report, the different design steps of the V-Model will be discussed, except for the last design step, Acceptance \& Use, which is not neccessary in this case, since the designed system is not going to be used.

\begin{figure}[h!]
	\centering
	\includegraphics[width=0.6\textwidth]{images/v-model.pdf} 
	\caption{V-Model design flow overview\citep{VMODELSHEET} }
	\label{fig:vmodel}
\end{figure}

\subsection{Outline} 
In the following, the organization of the report is presented. The Requirements \& Analysis and System Architecture phases of the V-model are discussed in section~\ref{sec:RequirementsArchitecture}. Thereafter, the System Design is explained in section~\ref{sec:SystemDesign}.

From the System Design, it will be shown that the system can be divided into several components that are built on top of each other. The hardware interface in the lowest layer is formed by the Encoder and PWM interface and is discussed in section~\ref{sec:vhdl}. From there, the system is subsequently built up by the Controller, Communication Method, Webcam Readout and Object Tracking in the sections~\ref{sec:Controller} to \ref{sec:ObjectTracking}. For each of those components, the Software Architecture, Software Design and Unit / Device Tests and Integration Testing design steps are iteratively followed. In this report, only the final results are being discussed, intermediate iterations are omitted.

The Integration Testing and System Integration is given in section~\ref{sec:Testing}. Finally, conclusions and recommendations will be presented in section~\ref{sec:Conclusion}.
